version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 14
start: 3 15 119 18 7 27
data:
$ID,574
$MISSION,3
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,167
$T_MISSION,182
$T_ABORT,197
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,75
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,90
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,558.35083
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,117
$PITCH_MAX,3869
$C_PITCH,2785
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2780
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.54955
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,3.1600001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,150319,180000,-2817.6638,3233.1262,9,1.0,15,-23.1,1.7,207.0,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-70.5
$GPS2,150319,180701,-2818.0601,3232.9490,9,1.0,14,-23.1,2.1,204.6,8,9.2
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2818.060,3245.214
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,68.1,20000,-25.9,-9.980,-28.14,1123
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.01,-73.0,88,1989,632,561,0.0,0.0,0,101,0.00,0.00,-79.20,0.000,16386,0.000,0.000,86,1990,2827,2799,2855,0,0,0,0,0,0,15.19,28.83,15.19
$GC,103,-1.01,-73.0,86,1990,2799,2856,3.8,-7.3,14,129,13.35,2.30,-4.32,0.000,18692,0.291,0.066,2441,3423,3080,3067,3093,0,0,0,0,0,0,14.83,14.14,15.02
$GC,135,-1.01,-73.0,2441,3422,3067,3093,17.5,-40.3,19,143,0.08,2.30,0.00,0.000,3078,0.303,0.046,2454,2007,3080,3067,3093,0,0,0,0,0,0,14.89,15.00,15.04
$GC,204,-1.01,-73.0,2454,2006,3071,3088,34.0,-20.9,32,211,0.00,2.33,0.00,0.000,2564,0.000,0.060,2454,592,3080,3072,3088,0,0,0,0,0,0,15.23,15.00,15.23
$GC,253,-1.01,-73.0,2454,592,3073,3086,45.2,-21.4,41,260,0.00,2.28,0.00,0.000,3078,0.000,0.040,2449,2008,3079,3073,3086,0,0,0,0,0,0,15.15,15.07,15.16
$GC,324,-1.01,-73.0,2449,2012,3074,3085,58.8,-18.9,54,331,0.00,2.30,0.00,0.000,2564,0.000,0.047,2449,589,3079,3074,3085,0,0,0,0,0,0,15.27,15.03,15.27
$GC,404,-1.01,-73.0,2449,589,3074,3085,70.7,-15.1,69,410,0.00,2.25,0.00,0.000,3078,0.000,0.037,2444,2004,3080,3075,3085,0,0,0,0,0,0,15.17,15.11,15.19
$GC,472,-1.01,-73.0,2443,2007,3075,3085,81.9,-13.5,82,478,0.00,2.33,0.00,0.000,2564,0.000,0.059,2444,591,3080,3076,3085,0,0,0,0,0,0,15.30,15.09,15.30
$STATE,483,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,483,begin apogee
$GC,489,-0.18,0.0,2443,2005,3076,3085,83.2,-11.6,84,548,1.38,0.00,52.60,0.952,10246,0.179,0.000,2716,2008,2779,2793,2765,0,0,0,0,0,0,15.00,14.87,14.41
$STATE,550,end apogee,CONTROL_FINISHED_OK
$STATE,550,begin climb
$GC,551,1.01,73.0,2716,2008,2792,2765,86.5,0.0,94,620,1.73,2.33,55.97,0.966,10500,0.073,0.050,3099,3405,2479,2489,2470,0,0,0,0,0,0,14.88,14.71,14.28
$GC,643,1.10,146.6,3100,3405,2486,2469,86.0,3.2,109,708,0.00,2.30,56.58,0.965,11270,0.000,0.042,3110,1987,2180,2197,2163,0,0,0,0,0,0,14.90,14.83,14.26
$GC,769,1.10,146.6,3115,1989,2193,2157,73.0,12.8,132,776,0.00,2.30,0.00,0.000,2564,0.000,0.061,3120,606,2175,2192,2158,0,0,0,0,0,0,15.05,14.85,15.05
$GC,1279,1.15,187.1,3119,606,2185,2153,29.9,6.3,233,1315,0.08,2.22,28.23,0.914,11270,0.204,0.036,3150,2014,2015,2037,1994,0,0,0,0,0,0,15.08,15.13,14.52
$GC,1377,1.17,198.6,3150,2014,2032,1990,21.4,8.9,251,1391,0.00,2.33,6.40,0.740,10756,0.000,0.058,3155,606,1966,1989,1944,0,0,0,0,0,0,15.21,14.88,14.54
$GC,1895,1.24,258.3,3154,606,1982,1938,9.5,4.5,353,1937,0.00,2.22,31.33,0.785,11270,0.000,0.037,3155,2008,1722,1752,1692,0,0,0,0,0,0,15.21,15.14,14.59
$STATE,1997,end climb,SURFACE_DEPTH_REACHED
$STATE,1997,begin surface coast
$FINISH,0.4,1.022752
$STATE,2024,end surface coast,CONTROL_FINISHED_OK
$STATE,2024,begin surface
$SM_CCo,2045,147.43,0.727,0,0,599,534.75
$SM_CCo,2195,-0.25,0.000,0,0,600,534.75
$SM_CCo,2198,-0.03,0.000,0,0,599,534.75
$SM_GC,1.01,13.93,0.00,-0.03,0.051,0.000,0.000,124,2008,599,-8.26,0.23,534.75,0,0,0,0,0,0,15.06,15.26,14.50
$IRIDIUM_FIX,-2804.06,3233.53,150319,172142
$TT8_MAMPS,0.021721,0.84637
$HUMID,40.15
$INTERNAL_PRESSURE,9.71272
$TCM_TEMP,24.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,55.7,36.7
$SC_FREEKB,3915648
$24V_AH,13.99,34.408
$10V_AH,13.41,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.525,32.075,231.100,147.425,0.000,22.896,41.831,224.803,5.500,0.000,16.857,847.547,326.575,464.726,957.325,44.824,0.000,808.682,0.000,579.234,0.000,7.073,0.000
$DEVICE_MAMPS,302.940,65.790,966.195,726.750,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2049.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.444,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,10126,377
$CAP_FILE_SIZE,67630,0
$CFSIZE,2097086464,2092498944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.399,198.91,1
$GPS,150319,184525,-2819.668,3232.372,8,1.0,42,-23.2,1.9,201.0,9,5.3